JP2016528522A - Self-propelled highly dynamic simulated driving device - Google Patents

Abstract

The present invention is a self-propelled simulated driving device, in particular with a machine frame, which is movable on the ground via three, preferably four or more wheel assemblies of this machine frame, Each of which has at least one wheel movable on the ground, the wheels are arranged so as to be rotatable around a steering shaft, and a machine frame is connected to a control pit, And a control pit having a degree of freedom of rotation with respect to the machine frame, so that the control pit is centered on the main rotation axis with respect to the machine frame. A simulated driving device which can be rotated and / or whose main axis of rotation is preferably substantially the normal vector of the wheel contact surface of the wheel on the ground To.

Description

  The present invention is a self-propelled simulated driving device with a machine frame, which is movable on the ground via three, preferably four or more wheel assemblies of the machine frame, Each wheel has at least one wheel that can move on the ground, and the wheel is rotatably arranged around the steering shaft. The machine frame is connected to the control pit. The present invention relates to a simulated driving apparatus having an operation element for controlling the seat and the simulated driving apparatus.

  Typical areas of use of simulators are in the fields of vehicle development, traffic safety, mobility, integrated security, driver assistance systems and basic vehicle research.

  A simulated operating device is known, in which a movable carriage above a plurality of motion components can be moved within a predetermined moving space. These movement components are configured in the same manner as a truck, for example, as a traverse. The dynamics and application area of this prior art simulator is severely limited by the mass of the motion component. This limits the ability to simulate highly dynamic driving operations tremendously or severely.

  In particular, the present invention relates to a simulated driving apparatus as described in Patent Document 1.

  The simulated driving device may be configured as a test vehicle for an automobile, which is a fully functional cockpit with seats, instrument panel, control elements using force feedback, rearview mirrors and / or other operating elements It has. The cockpit may be uniquely configured in general or in some cases depending on the type. A cockpit made by imitating a vehicle corresponds to the cockpit of an actual passenger car as precisely as possible in terms of ergonomics and functionality. This means that the view through the windshield and side windows, interior mirrors and external mirrors and corresponding features of the car body of the passenger car (eg A and B pillars, center console, internal space, doors from the inside, etc.) Contains. The cockpit and / or the control pit are preferably fixedly and in particular fixedly connected to the elements of the simulator's exercise device, by means of this exercise device the mechanical dynamics of the cockpit as a machine frame by a certain degree of freedom. Allows controlled or coordinated movement.

  The simulated driving device is preferably configured as a self-propelled vehicle that can be controlled from the cockpit, and this vehicle can be controlled by a person sitting in the cockpit, particularly in a loop.

  Furthermore, an image reproduction screen for projecting an actual or computer generated outside scenery may be provided.

  The wheels are preferably configured as tires. Depending on the load, commercial passenger car tires or truck tires can be used.

  The vehicle can move substantially freely within the area.

The selected technical parameters for the preferred embodiment are typically:
x and y lateral acceleration: ± 1 G; bandwidth lateral (lateral) acceleration.
Longitudinal acceleration, roll: <4 Hz (phase accuracy—presentation of phase accuracy relates specifically to lateral acceleration, including roll, yaw, and to vertical acceleration, including pitch).
Motion area in the hall: about 70 × 70 m or more; speed: up to about 50 km / h; field of view of the outside landscape: at least 220 °.

  The present invention is a self-propelled highly dynamic simulated driving device. In particular, this is configured such that all the components necessary for the simulation experiment are provided in the simulation apparatus itself. This relates in particular to the known components that are necessary to move the simulated driving device. For this reason, the simulated driving device can be used on any suitable road surface or on any suitable ground surface (eg sufficiently flat ground with a sufficiently high coefficient of friction, eg asphalt surface, concrete surface, plastic coated surface, etc.) So that the area of use or area of motion is not substantially limited. A typical road surface or a typical ground is a concrete surface, an asphalt surface, a street, or the like. With the configuration according to the present invention, the simulation apparatus has a use area of, for example, 500 m or more.

  The simulated driving device according to the present invention or the method according to the present invention is optionally used for simulation experiments of highly dynamic operating conditions. Examples for such driving maneuvers are slalom, avoidance maneuvers, braking maneuvers, etc. and maneuvers where the speed is higher than 50 km / h or higher than 80 km / h.

  Vehicle characteristics, particularly actual vehicle behavior under such changes in acceleration, are important for safety and driver quality perception. Modern passenger car chassis are extremely complex and dynamic, especially elastodynamic devices. The challenge of modern chassis is, on the one hand, optimizing driving characteristics or traction. On the other hand, the chassis challenge is to give the driver a clear feedback on the general balance of forces. For example, the intensity of pitch motion or roll motion results in a replayable experience of general driving conditions. Another basic challenge for the chassis is to improve the ride comfort.

  The braking or acceleration behavior, in particular the stage of change of the gearing, is also directly relevant to the driving experience.

  The simulation apparatus according to the present invention enables flexible dynamic simulation experiments such as different chassis design, braking characteristics, acceleration characteristics, and stages of transmission change. In particular, the driving characteristics and characteristic curves to be simulated can be changed by simple control technology selection of the simulation apparatus.

  By configuring the simulation device, it is possible to test the prototype on the simulation driving device according to the present invention before realizing the virtual running characteristics generated by the vehicle computer. This allows the virtually existing characteristics of the vehicle to be constructed to be tested in a real environment, at a very early stage of vehicle development, without having to use the high cost of the prototype for that purpose. However, these actual tests of virtually developed driving models are only possible with highly dynamic simulated driving devices. The reason for this is that otherwise the course of the simulation experiment will be too far from the actual.

Austrian utility model 202/2013 specification

The object of the present invention is to improve the dynamic simulation,
-The sensory impression to be simulated is embodied as freely and realistic as possible,
At the same time, to provide a simulated driving device that allows the driver's sensory impression to be as far as possible separated from the real environment and / or the disturbance of the simulated device. This means in particular the improvement of the separation between the ground and the driver's seat by optimizing the kinematics of the dynamic wheels,
-Includes synergistic effects during optimization of acceleration simulations due to cockpit motion to the ground and to the machine frame. With both treatments, an improvement in the dynamic simulation can be achieved.

  The problem according to the invention is solved in particular by the features of the independent claims.

  Separation of pits of interference from the environment and the ground, in particular by dynamic devices, by motion devices, and in some cases by guide devices, and / or by closed control pits or thereby real optical or acoustic in the outside world A special sensory impression is produced by the outer casing being shielded.

  Improvements in dynamic wheel kinematics are also achieved by these components, in particular the control pit rotation relative to the machine frame, and the wheel assembly rotation and dynamics are self-propelled driving simulators. Has a significant impact on the suitability of highly dynamic motion simulations.

  The present invention is a self-propelled simulated driving device having a machine frame, which is movable on the ground via three, preferably four or more wheel assemblies. Each wheel assembly has at least one wheel movable on the ground, the wheels are arranged to be rotatable about a steering shaft, and the machine frame is connected to a control pit, The pit has operating elements for controlling the seat for the person as well as the simulated driving device, the control pit has a degree of freedom of rotation with respect to the machine frame, so the control pit is the main rotation with respect to the machine frame Can be rotated about an axis, and the main axis of rotation is preferably a normal vector of a plane substantially extended by the wheel contact surface of the wheel on the ground On Hashishiki simulated driving apparatus.

  In some cases, at least one wheel assembly includes a wheel drive for driving a wheel about a wheel axis, preferably a plurality of wheel assemblies or all wheel assemblies each having a wheel about each wheel axis. It is intended to comprise at least one wheel drive for driving the vehicle.

  In some cases, it is contemplated that one or more wheels of each wheel assembly can be rotated in both directions of rotation over 360 °, in particular optionally and indefinitely, and / or about a steering axis.

  In some cases, it is intended that the control pits are 360 ° relative to the machine frame, preferably not arbitrarily limited and / or rotatable about the main axis of rotation.

  Depending on the case, the wheels of one, two, three or all wheel assemblies may be arranged to be pivotable about each steering axis so as to be actively mechanically steerable via a steering drive. Is intended.

  In some cases, it is contemplated that two wheels are provided for each wheel assembly.

  In some cases, the steering drive device is formed by a rotation drive device of the steering shaft, or the two wheels of the wheel assembly are driven around the respective wheel axis lines at intervals. Driven, formed, or assisted by the difference in the rotational speed of the steering wheel, or the steering drive is driven by the rotational drive of the steering shaft and at two intervals between the wheels. It is intended to be formed by the difference in the rotational speed of the wheels of the wheel assembly driven about the axis.

  In some cases, the wheel assembly and / or the wheels are connected to the machine frame, in particular via a dynamic device formed as a vehicle, which absorbs and / or cushions ground irregularities. For this purpose, it is intended to include elastic and / or damping elements such as spring damper mechanisms and wheel suspensions.

  In some cases, relative movement of the machine frame relative to the ground, wheels and / or wheel assemblies is possible via dynamic devices, in particular in the direction of the main axis of rotation or along the direction of the main axis of rotation. It is intended that exercise is enabled.

  In some cases, an exercise device is provided, through which the control pit is connected to the machine frame, and the exercise device actively rotates the control pit relative to the machine frame about the main axis of rotation. Is intended to be made possible.

  In some cases, it is intended that it is possible to tilt the control pits relative to the machine frame about the pitch axis and / or the roll axis via the motion device.

  In some cases, translational movement of the control pit relative to the machine frame is made possible via the movement device, in particular translational movement in or along the main rotation axis, translation of the control pit relative to the machine frame, It is intended that the control pit can be lifted relative to the machine frame and / or.

  In some cases, a cardan suspension is provided, through which the control pit can be tilted with respect to the machine frame, preferably two carrier elements are provided. The first carrier element is tiltably connected to the machine frame about the first axis of rotation, and the second carrier element is inclined to the first carrier element about the second axis of rotation. It is intended that the first rotation axis and the second rotation axis extend substantially perpendicular to each other.

  In some cases, a parallel dynamic device is provided, through which the control pit can be tilted with respect to the machine frame, and the parallel dynamic device is preferably a tripod. As a table, or as a hydraulic tripod, or as a pneumatic tripod, or as an electric tripod, or as a hexapod, or as a hydraulic hexapod, or as a pneumatic hexapod Or as a motorized hexapod.

  In some cases, a guide device is provided, which is connected on the one hand to the control pit and on the other hand to a machine frame or part of the motion device, and is a machine centered on the main axis of rotation. The guide device is such that rotation of the control pit relative to the frame, tilting of the control pit relative to the machine frame about the pitch axis and / or roll axis, and translational ascent of the control pit relative to the machine frame are possible. It is intended that all other degrees of freedom of the control pits with respect to the machine frame are substantially blocked by the guide device.

  In some cases, a rotation carrier is provided, and the rotation carrier is disposed so as to be rotatable with respect to the machine frame via the rotation carrier support and the rotation carrier driving device. It is intended that the carrier is engaged or provided with a parallel dynamic device, a cardan suspension and / or a guide device.

  In some cases, the simulated driving device is formed as a simulated driving device that can be independently driven and controlled from a control pit by a person, and is accompanied by a wheel assembly that is connected to a machine frame. At least one wheel drive device for running the simulated driving device in a state supported by the ground via a steering wheel, a steering drive device for maneuvering the simulated driving device, and for moving the control pit relative to the machine frame And an energy storage device for supplying energy for driving the wheel drive device, the steering drive device and the exercise device.

  In some cases, an outer casing is provided, the outer casing is immovably connected to the control pit, the rotating carrier, or the machine frame, and the outer casing is configured as a hollow body. It is intended that the hollow body preferably completely surrounds at least part of the control pit, cockpit and / or seat for accommodating a person.

  In some cases, the outer casing is provided with an image reproduction surface, which preferably extends over at least the majority of the human field of view and is preferably formed sequentially inside the outer casing. Is intended to be.

  In some cases, the present invention is a method for simulating a transition from a decelerated state to an accelerated state, in which the following method is used to drive and start the wheels of a wheel assembly on the ground: The wheel axis of all wheels cuts the main axis of rotation, so that the machine frame rotates about the main axis of rotation with the first angular velocity in the first direction of rotation and the second with the second angular velocity. Rotate in the direction of rotation about the main axis of rotation at the same time, the second direction of rotation is diametrically opposite to the first direction of rotation, the second angular velocity is diametrically opposite to the first angular velocity, and therefore the control pit is relative to the ground. A substantially stationary and decelerating step and turning a wheel driven and started around the steering axis, wherein at least one axis of rotation, preferably a plurality of axes of rotation, Main rotation axis Has a gap against, therefore it relates to a method of controlling pits and a step that is and accelerated allowed to at least translation.

  The simulated driving device comprises one machine frame, preferably at least three, preferably four, six, seven, eight or more wheel assemblies, which are connected to the machine frame. In addition, the machine frame can be easily moved. Each wheel assembly comprises at least one wheel, preferably two wheels. These wheels or these wheels optionally roll on suitable ground. At least one wheel can be driven around the wheel axis by a wheel drive device. This allows the simulator to run. The plurality of wheels are preferably driven by one wheel driving device or each by one wheel driving device. At that time, for example, two wheels that are both driven may be provided for each wheel assembly. Furthermore, a plurality or all of the wheel assemblies may be driven.

  Each wheel assembly is disposed so as to be rotatable about a steering shaft. The steering shaft allows the adaptation of the direction in which each wheel should roll. A steering shaft is provided for each wheel assembly, and it is preferable that the wheel of each wheel assembly or a plurality of wheels can rotate around the steering shaft. The steering shaft may be configured as a connecting rod that can be rotated in an active mechanical manner, and the rotation of the connecting rod is driven by a rotary drive device. Alternatively or additionally, the rotation of the wheel assembly about the steering axis can also be effected by the two wheels of the wheel assembly having different speeds or being driven at different speeds. it can. This causes a moment to act on the connecting rod and / or on the steering shaft, thereby rotating the wheel assembly.

  For example, each of the two wheels of the wheel assembly may be driven by a single hub motor, and these two wheels can be controlled independently. In order to achieve straight travel of both wheels of the wheel assembly, the rotational speeds of both wheels are substantially the same. To achieve rotation of the wheel assembly about the steering axis, the speed of one wheel of the wheel assembly is different from the other wheels of the same wheel assembly, so that both wheels of the wheel assembly are Is rotated around.

  In some cases, in all embodiments, wheels may be provided which are arranged so as to be rotatable about a steering axis, but they are not driven by active mechanics, but simply passively simulating devices. It only follows the driving direction. In this embodiment, it may be advantageous for the wheel to have a specific rearward structure in order to improve the passive mechanical maneuverability of the wheel.

  Furthermore, in all embodiments, wheels are provided that are not driven and are used for substantially transmitting the load or distributing the load.

  The wheels and / or wheel assemblies are connected to the machine frame via dynamic devices. This dynamic device allows relative movement of the wheel and / or wheel assembly relative to the machine frame. For example, the dynamic device comprises a combination of a spring damping element and a wheel suspension. This dynamic device corresponds to a chassis in the technical sense. By means of a dynamic device, for example, the impact of the uneven surface of the ground can be softened and weakened. This is useful for disconnecting the control pit from the ground. Wheel suspension devices are formed as, for example, double wishbone shafts, crank arm shafts, trailing arm shafts, McPherson strut unit shafts, vibration axles, space connecting rod shafts / multiple connecting rod shafts, semi-trailing arm shafts, swing arms, etc. May be.

  In some cases, elastic bearings can be used so that the elastic kinematic chassis effect can be utilized.

  Furthermore, by connecting at least one wheel and the machine frame via a dynamic device, at least one degree of freedom is provided, which allows relative movement of the machine frame with respect to the wheel and at the same time with respect to the ground. . Thus, the dynamic device can be used not only for eliminating ground disturbances, but also for example for tilting the machine frame or for the lifting movement of the machine frame.

  In this way, the motion of the machine frame relative to the ground, enabled by the elasticity of the dynamic device, can be used for the purpose of showing some or all of the motion to be simulated. For example, a pitch motion or a roll motion occurs when changing the acceleration of the simulation device by a dynamic device. This can be compensated by an exercise device. However, if at least a part of such motion of the dynamic device acts in the same direction as the pitch motion or roll motion to be simulated, the motion of the control pit relative to the machine frame by the motion device may be so small. Good.

  Furthermore, at least a part of the ascending movement can also be performed by a dynamic device.

  In some cases, the wheels of the wheel assembly are articulated with a wheel suspension, chassis, connecting rod or dynamic device, and the rotation axis of the joint is such that the wheel load is even on both wheels of the wheel assembly. It is formed to be distributed. Thus, for example, a carrier may be provided, and one wheel is supported on each side of the carrier. In the center, the carrier is provided with a rotary joint, through which the carrier is articulated with a wheel suspension, chassis, connecting rod or dynamic device. In addition, the chassis allows for the formation of the most effective tire contact surface depending on the driving conditions and enhanced driving dynamics that are highly advantageous for dynamic driving operations.

  The machine frame is further connected to a control pit and there is preferably a seat for the operator on or in the control pit. The control pit is connected to the machine frame via an exercise device. The exercise device is formed, for example, as a cardan suspension or as a parallel dynamic device. In particular, the exercise device is adjusted to allow control pits and / or human movement relative to the machine frame.

  This motility may be passive or active. In active mechanical motion, a drive is used that provides control pits and / or human motion relative to the machine frame via appropriate control. For example, for such a drive, a parallel dynamic device such as a tripod or a hexapod is operated via a pneumatic, hydraulic or electric drive. Another possibility is a cardan suspension, in which a plurality of carrier elements are arranged in series in a rotatable manner. These carrier elements can be rotated against each other via a rotary drive or a linear drive, thereby allowing a control pit and / or a person to tilt relative to the machine frame.

  Passive mechanical mobility is achieved, for example, by the elastic bearings of the control pits in the machine frame. The inertial force acts on the control pit and the machine frame due to acceleration of the traveling driving apparatus such as a direction change. These inertial forces can be used to provide pitch or roll movement of the control pits. For example, the control pit may be connected to the machine frame via a tripod or hexapod made of a spring damping device. In some cases, the damping characteristics of the spring or individual elastic elements can be changed. This can be effected by a rheological fluid with indefinite clay, either by a control valve or in a damping unit.

  Furthermore, the present invention may be configured such that a guide device is provided to guide the movement of the control pit relative to the machine frame. This guide device substantially corresponds to a continuous body of individual elements connected to each other by joints. Due to the nature of the connection of the individual elements, the guide device has a limited number of degrees of freedom. Therefore, the guide device may be configured such that the pitch motion or roll motion of the control pit with respect to the machine frame is enabled. In addition, the control pit can be lifted relative to the machine frame. In this case, the guide device may be configured such that translational movement of the side of the control pit with respect to the machine frame is prevented. This has the advantage that the inertial force acting on the exercise device by the lateral acceleration force or the longitudinal acceleration force is stopped by the guide device. For example, when the simulated driving device is accelerated, the cockpit is pulled backward by the inertial force. This results in a moment about the pitch axis on the one hand and a linear inertial force which is substantially opposite to the acceleration vector on the one hand at the connection position between the motion device and the control pit. In order to prevent such an acceleration force acting in the horizontal direction, the parallel movement of the control pits extending laterally or longitudinally with respect to the machine frame may be prevented.

  The guide device preferably has two degrees of freedom, which allows the cockpit to be tilted with respect to the machine frame about the pitch axis and / or about the roll axis. In some cases, the connection location is configured as a universal joint. The universal joint may be connected to the machine frame via one or a plurality of arms. This makes it possible to move up. The ascending motion part comprises components that extend substantially parallel to the yaw axis or to the main rotational axis. However, in the case of an arm-shaped configuration, an ascending motion along a curved motion trajectory is enabled instead of an accurate linear motion.

  The exercise device is configured to be able to rotate with the cockpit. For this purpose, the exercise device, and possibly the guide device, is connected to and / or connected to the rotary carrier.

  The rotating carrier is a member that enables rotation, in particular, without limitation of control pits with respect to the machine frame. The rotating carrier is preferably provided with components of the exercise device and / or the guide device.

  The rotating carrier may be configured in a bowl shape or a bowl shape, for example. Thereby, the pivot point of the simulator can be kept low. Further, the rotation carrier may be configured as a rotating disk or a rotating ring in a disk shape or an annular shape.

  Simulated driving device is formed so that all necessary drive and simulation devices are exercised and a device for simulation experiments is provided in or on the self-propelled simulation device It is preferable. In a preferred embodiment, an energy storage device, in particular an energy storage device such as a storage battery, a battery, an internal combustion engine, a generator and / or a fuel cell, is provided in or on the simulated operating device. The simulator is configured as follows. The energy supply can be realized using a battery or, in some cases, using an energy storage device such as a capacitor that acts in an additional manner (in a short time).

  However, in some cases, an external energy source may be provided. This energy source is used as a sliding contact part, as a take-up cable, particularly as a non-contact type energy transmission device such as an induction type energy transmission device. It may be configured as.

  In order to store energy, an energy storage device may be provided which can be configured in particular as a storage battery. A plurality of energy storage modules are preferably provided. This may be provided, for example, in a machine frame. However, in some cases, these energy storage devices may also be provided in the control pits, in particular on the rotating carrier. The storage battery is preferably arranged as low as possible, so that the pivot point of the simulated operating device is kept downward.

  A plurality of conduits extending from the energy storage device to the energy consuming part are provided for transferring energy. Such an energy consumption unit is, for example, a drive device, a control unit, a sensor, an image reproduction screen, for example, a data processing unit such as a computer, a lighting device, or the like. A slip ring is provided in a preferred embodiment for transferring energy from a machine frame to a moved component, such as a control pit, or for transferring energy from a machine frame to a wheel or wheel drive mechanism. It may be done. These sliding rings allow energy transfer to components with optional and unrestricted rotational properties.

  The slip ring may be transferred, for example, between the control pit and the machine frame and between the wheel assembly and the machine frame.

  In some cases, it is necessary to transfer the medium of the liquid medium through the rotation execution unit. For example, the cooling medium or the medium of the hydraulic system can be transmitted to a rotationally arranged component. For example, the cooling medium can be guided to a wheel drive, which is provided in a wheel assembly that is rotatably arranged, and a cooling pump or heat exchanger is provided in the machine frame. Furthermore, in some cases, the hydraulic fluid under pressure may be guided from the machine frame to the rotating carrier, in particular to a tripod. Here too, transmission via the rotary transmission can take place.

  In some cases, data or a weak current signal is transmitted through the slip ring or slip implement. In this way, the control signal or the signal from the sensor is optionally transmitted to or from a component that is rotatably arranged opposite one another. In order to transmit different data flows or energy flows, there may be provided rotation transmission devices arranged concentrically, in particular such as slip rings, rotation carriers and / or rotation penetration guides.

  The wheel drive device may be a wheel hub motor in all embodiments, for example. According to alternative alternative embodiments of the wheel drive, these may in all examples be configured as a rotary drive connected to the machine frame and transmitting the rotation to the wheel via a shaft. Good. The shaft is arranged concentrically with the steering shaft, for example. Distributing energy to multiple wheels of a single wheel assembly can be done via an actuator. In that case, the wheel drive device may be provided in the wheel assembly or may be provided in the machine frame. When the wheel drive device is disposed on the machine frame, a cardan joint is preferably provided in order to transmit the rotational energy of the drive device to the wheel movably disposed with respect to the machine frame.

  The control pit of the simulator has a seat for one person. Furthermore, the control pit preferably comprises an operating element for controlling the simulated driving device. These operating elements may be made to imitate the operating elements of a passenger car or other vehicles. By manipulating these operating elements, the simulator can be moved and controlled in a practical and / or virtual simulated environment. The control pit may be surrounded by an optionally closed outer casing so that a person cannot see the outside. The sensory impression of the surrounding world is depicted via the image playback screen in this embodiment. This simulation experiment is a simulation operation in a virtual environment generated by a computer.

  However, in some cases, it may be possible to look outside, so that a person can receive a sensory impression of the actual environment.

  It is preferable that at least a part of the vehicle to be simulated is made in the control pit or on the control pit. In order to enable a realistic simulation experiment, for example, a cockpit made by imitating a passenger car may be provided in the control pit.

  Furthermore, a complete passenger car may be provided in or on the control pit. This however has the disadvantage that the mass is increased and thereby the inertial force due to the control pit itself is increased.

In all embodiments of the present invention, the control pit and the outer casing may be configured differently.
The control pit is fixedly connected to the outer casing. In this case, the outer casing is part of the control pit.
-In another embodiment, the outer casing is also fixedly connected to the machine frame. In this embodiment, the control pit has at least a degree of freedom with respect to the outer casing. In this case, the control pit is formed as a carrier for a seat or as a carrier for a cockpit. In some cases, the control pit is a cockpit.
-In another embodiment, the outer casing is fixedly connected to the rotating carrier. In this case, the outer casing is rotated together with the rotary carrier, and the control pit can be inclined or raised with respect to the outer casing about the pitch axis and / or the roll axis. Also in this case, the control pit is formed as a seat carrier or a cockpit carrier or, depending on the case, the control pit is a cockpit.
The outer casing may be closed and configured to prevent the outside from being visible.
-The outer casing may be provided with an opening in order to be able to see.
-In some cases, the outer casing may be eliminated, so that the outside can be seen freely.
-Optionally, the outer casing may be formed to be self-supporting.
-Depending on the case, another component such as an image reproduction screen, a cockpit or a data processing device such as a sound reproduction device, in particular a computer etc. can be fixed to the outer casing or the outer casing can be The outer casing is formed in such a way that it is adapted to carry these components even under high acceleration.

  In another consequence, a concept for improving clarity is defined.

  The axes known to those skilled in the art of vehicle development or chassis development are defined as follows. The pitch axis corresponds to an axis extending transversely to the operator's line of sight when the line of sight is adjusted straight and / or to the longitudinal axis of the vehicle being simulated. The actual or simulated pitch motion of the vehicle about the pitch axis is caused, for example, by linear acceleration or deceleration.

  The roll axis extends substantially in the longitudinal direction of the vehicle being simulated, and thus extends substantially parallel to the operator's gaze direction in a straight line of sight. When the outer wheel suspension is deflected, the vehicle tilts about the roll axis, for example, during cornering. To those skilled in the art, this movement is also known as roll.

  The yaw axis substantially corresponds to the vertical axis of the vehicle or person being simulated. The rotation around the yaw axis occurs, for example, during cornering.

  These axes are not fixed to the simulated driving device, the vehicle being simulated, the control pit or the operator. The reason is that the position of the axis may change due to the dynamic relative motion of the individual components.

  In the simulation apparatus according to the invention, these axes are defined as fixed axes for a person or cockpit or control pit. If the control pit is substantially fixedly connected to the outer casing, the definition of the axis also applies to the outer casing.

  Human pitch, rolling and yaw movements can be freely simulated within the range of dynamic possibilities by the device according to the invention.

  The present invention will be further described with reference to the drawings.

1 shows a schematic perspective view of an embodiment of a simulated driving device according to the present invention. FIG. 1 shows a cross-sectional view of a simulated driving device according to the present invention. The details of the exercise device are shown in perspective view. Details of the exercise device are shown. In particular, a rotating carrier is shown. The typical structure of a dynamic mechanism part is shown. 3 shows another embodiment of an exercise device according to the present invention. Fig. 4 shows four diagrams of components for improving transportability. The detail of the energy supply part of an apparatus is shown. The details of the energy supply of the device are shown in another way.

  FIG. 1 shows an embodiment of a simulation device according to the invention comprising a machine frame 1, four wheel assemblies 2 and a cockpit 6, said cockpit being connected to the machine frame 1 via an exercise device 16. Or are connected. Each wheel assembly 2 comprises two wheels 4 in the present embodiment. In some cases, these wheels may be driven around the wheel axis 11. The wheels of at least one wheel assembly 2 are driven. The wheels are preferably driven by two, three or more wheel assemblies. According to the invention, in the embodiment in which two wheels 4 are provided per wheel assembly 2, both wheels 4 are driven in common by the wheel drive device 10 or separated from each other by the independent wheel drive device 10. It may be.

  The wheels of the wheel assembly 2 can be turned or rotated about the steering shaft 5 via the steering drive device 9. It is preferable that this turning property or rotational property is not limited in both directions. By moving in this way around the steering shaft 5, the direction of travel of the individual wheel assembly can be selected or controlled. The steering drive device 9 may be configured as a rotary drive device as in the current configuration, and the position of the wheel 4 and the connecting rod 27 can be changed by this rotary drive device.

  According to other embodiments (not shown), the rotation of the wheel 4 around the steering shaft 5 is controlled by controlling the difference in the rotation speed between the two wheels 4 provided in one wheel assembly 2. Can also be achieved. For example, both of the wheels of the wheel assembly 2 are driven by a wheel driving device. A wheel hub motor is preferably used. Differences in the rotational speeds of both wheels of one wheel assembly result in different travel distances, thereby producing steering torque for both wheels around the steering shaft 5. In such an embodiment, the operating steering drive as a unique drive can be eliminated or assisted by a wheel drive.

  The wheel assembly and / or the wheel 4 are connected to the machine frame 1 via a dynamic mechanism 12. This dynamic mechanism comprises an element 13 which is preferably elastic and has a damping action, in particular a spring damper mechanism 14 and a wheel suspension 15. Further, in order to generate a uniform distribution of forces acting on the wheel assembly 2 in both wheels 4, the dynamic mechanism portion may include a wheel carrier 26 provided on the connecting rod 27 so as to be capable of turning. Good.

  At this time, the wheel carrier 26 is provided on the connecting rod 27 so as to be pivotable about the rotation axis. The axis of rotation of the wheel carrier 26 with respect to the connecting rod 27 extends, for example, in the horizontal direction or slightly offset from the horizontal direction.

  Furthermore, the simulation apparatus according to the present invention includes a control pit 6. The control pit 6 is provided with a cockpit 28 for a vehicle to be simulated in the state schematically illustrated. This cockpit 28 is, for example, a front part of a passenger car, a replica of the front part of the passenger car, a replica of the entire passenger car, a cockpit of any vehicle, a replica of the cockpit of any vehicle, and in particular a seat and for example a handle It has operating elements such as an accelerator pedal and a brake.

  It is preferable that the cockpit 28 can be fixed to the control pit 6 in a stationary manner. However, in order to replace the cockpit 28, a closeable opening 29 may be provided in the outer casing 40, which allows different cockpits to be mounted on the control pit and in the outer casing 40. Or it can be removed. Furthermore, the opening can also be closed by a door to allow the operator to get on and off.

  The outer casing 40 is formed in the present embodiment as a substantially closed hollow body with a closable opening. In this manner, the operator is substantially isolated from the outside world. Optical or acoustic impressions can be simulated through artificially created images or sounds. An image reproduction surface is provided in the outer casing 40, and a virtual environment can be depicted through this image reproduction surface. The playback surface may be configured as a thin screen or a projection screen, for example. In the case of a configuration as a projection screen, one or a plurality of video projectors may be provided in the control pit 6 or the outer casing.

  In some cases, the outer casing is provided with an opening that allows an actual appearance. As a result, exercise in an actual environment can be simulated.

  The simulation apparatus according to the present invention includes one or a plurality of energy storage devices 30. These may be formed, for example, as fuel tanks, batteries, or accumulators. The energy storage device 30 is for driving different drives for the movement of the simulation device, as well as for supplying power to other power consuming devices such as image reproduction devices, control devices, data processing devices, etc. used. In order to allow some continuous operation in some cases, the quick changer is equipped with an external charging station for the energy storage module.

  Furthermore, in order to recover at least a part of the braking energy and / or to convert it into electrical energy, the drive can act as a generator during the braking process. Furthermore, this electrical energy can be stored, for example, in batteries, accumulators or short-time energy storage devices. This increases on the one hand the working range and reach of the simulator, and on the other hand it improves the kinematics of the dynamic wheels. The reason is that at any point in time, there is sufficient energy for the highly dynamic drive of the wheel.

  In some cases, the simulator may be supplied from an external energy source. For this purpose, for example, a winding cable or a sliding contact is conceivable.

  The illustrated embodiment includes an exercise device 16 that includes a parallel kinematic device 22. In the present embodiment, the parallel dynamic device 22 is configured as a tripod base or a so-called platform. Furthermore, the simulation apparatus according to the present invention includes a guide device 23. The guide device 23 is used in particular to guide the movement of the control pit 6 relative to the machine frame 1 or relative to the rotary carrier 24. In the present embodiment, the degree of freedom is somewhat blocked by the guide device 23. In order to rotate the control pit 6 with respect to the machine frame 1, a rotation carrier 24 is provided. The rotation carrier 24 includes at least one rotation carrier driving device 31 and a rotation carrier bearing 32.

  The rotating carrier 24 preferably allows the rotation of the control pit 6 with respect to the 360 ° machine frame, in particular one of the control pits 6 with respect to the machine frame 1 in one direction, especially in both directions of rotation. It is particularly preferred that an unrestricted rotation is possible.

  The same can be said for the rotation of the wheel 4 of the wheel assembly 2 around each steering axis. These wheels can also be rotated according to a preferred embodiment, optionally continuously and / or unrestricted over 360 °, in particular in both directions of rotation, around the steering axis.

  This special configuration of infinitely rotatable elements allows the machine frame 1 to be rotated about the main rotational axis 8 while at the same time the control pit 6 remains stationary or fixed. Is positioned in the formula. This provides an advantage in solving the problem according to the invention, in particular in improving the dynamic kinematics, which means that the wheel can be accelerated at each position of the simulator or at each driving condition, and for example the power This includes stopping each other due to their specificities.

  The rotation of the control pit 6 with respect to the machine frame 1 is performed around the main rotation axis 8. In a preferred method, the main rotational axis 8 is preferably a normal vector of a plane that is spread on the ground 3 by the wheel contact surface 25. Therefore, this plane substantially corresponds to the ground. Thereby, the main rotational axis 8 extends substantially vertically in the case of flat ground.

  According to a preferred embodiment, the steering shaft 5 also extends substantially vertically in the case of flat ground, and preferably extends parallel to the main rotational axis.

  The wheel axis 11 of the wheel 4 preferably extends substantially in the horizontal direction. Similarly, however, the deviation of the horizontal or vertical axis corresponds to the concept according to the invention. In particular, the steering shaft 5 may be slightly tilted, for example, in order to act a rearward turning structure. For example, the wheel axis 11 may also be slightly inclined with respect to each other to provide a wheel camber.

  FIG. 2 shows a schematic sectional view of the device according to the invention, which substantially corresponds to the device of FIG. The self-propelled simulated driving device includes a control pit 6, and this control pit is connected to the machine frame 1 via an exercise device 16. The machine frame 1 can run in contact with the ground via a wheel assembly 2 and is supported on the ground. Each wheel assembly 2 preferably comprises at least one wheel 4, which wheel rests on the ground 3 via a wheel contact surface 25. At least one wheel 4 is driven via a wheel drive 10, so that the simulator can be moved by this drive wheel. Furthermore, the wheel 4 of the wheel assembly 2 is preferably connected to a connecting rod 27 that is rotatable about a steering shaft 5. In order to rotate the connecting rod 27 about the steering shaft 5, a steering drive device 9 is provided. This connecting rod is formed as a specific drive as described above, or in the case of a plurality of wheels 4 per wheel assembly, also due to the difference in the rotational speed of the individual wheels. .

  In the case of a plurality of wheels 4 per wheel assembly 2, the wheels 4 are connected to a machine frame via a wheel carrier 26. The wheel carrier is formed so as to be able to turn with respect to the connecting rod 27, for example, in order to achieve a constant load transmission of the wheel. The wheel 4 is connected to the machine frame via a dynamic device 12. The dynamic device 12 preferably comprises elements 13 that perform elastic and / or damping action, which elements are in particular formed as spring damper mechanisms 14 and wheel suspensions 15. In the current embodiment, the wheel suspension 15 is formed as a bilateral link mechanism. The wheel suspension is used for the movement of the wheel relative to the machine frame 1. In order to limit the movement, a spring damper mechanism 14 is provided. In the present embodiment, the spring damper mechanism portion 14 is formed as a pull rod array portion. However, push rod configurations or alternative arrangements are possible.

  The kinetic device 12 includes a plurality of bearings 33. Similarly, a part of this bearing may be formed as an elastic bearing. As a result, the chassis maintains the elastic kinetic properties.

  In the current embodiment, both lateral connecting bars extend substantially parallel. However, other configurations are possible. For example, the transverse connecting rods may be provided at right angles to each other.

  In the current embodiment, both lateral linkages extend substantially horizontally. According to another embodiment, one lateral connecting rod or both lateral connecting rods may be provided obliquely.

  The control pit 6 is connected to the machine frame 11 via an exercise device 16. The exercise device 16 comprises a parallel dynamic device 22 and a rotating carrier 24 in the current embodiment. In the current shape, the rotary carrier 24 is formed in a cage shape and extends from the upper region of the machine frame 1 to a lower region of the machine frame. The rotating carrier is substantially elliptical. A parallel dynamic device 22 is attached to the bottom of the heel, which is lower than the heel in the current embodiment. This configuration provides advantages in the solution to the problem of the present invention, especially due to the low center of gravity.

  The rotation carrier 24 is rotatably supported on the machine frame 1 via a rotation carrier bearing 32 and can be driven via a rotation carrier driving device 31 (not shown). The parallel kinetic device 22 includes a plurality of linear drive devices 34 connected to the control pit 6. By varying the lengths of the individual linear drives 34 separately, the control pit 6 can be tilted or moved. By retracting or paying out at the same time, a downward or upward movement of the control pit relative to the machine frame and in another order relative to the ground 3 can be achieved. The control pit 6 is provided in particular with a control pit carrier 35, which on the one hand is fixedly connected to the outer casing of the control pit and on the other hand is engaged with an exercise device. To do. However, in some cases, particularly when the control pit is formed as a self-supported control pit, or when the control pit and the control pit support body are formed as self-supported cockpits, the control pit support body 35 is not provided. Also good.

  Furthermore, the simulation apparatus according to the present invention includes a guide device 23. This guide device 23 is fixed on the rotary carrier 24 on the one hand and on the control pit 6 on the other hand. The guide device 23 includes individual elements connected to each other by joints, and these individual elements have specific motility or specific degrees of freedom. In the present embodiment, the guide device 23 includes a main arm portion 36 and a universal joint 37. The main arm portion 36 is connected to the rotation carrier 24 by a joint. The rotational axis of the joint extends in a substantially horizontal plane. The illustrated main arm has only one degree of freedom for the rotation carrier 24.

  However, the main arm portion 36 may be formed as a double joint arm portion in some cases, and in this double joint arm portion, the two main arm portions are similarly connected to the elbow joint.

  The elbow joint is not connected to the rotary carrier 24 at the free end of the main arm portion 36, but the main arm portion is engaged with the universal joint 37. The universal joint 37 is pivotally connected to the main arm portion 36 around the first universal joint axis 38. Further, the universal joint 37 includes a second universal joint axis 39 so that the universal joint 37 is pivotally connected to the control pit 6. As a result, the control pit can be pivoted about the first universal joint axis 38 and the second universal joint axis 39 or can be tilted with respect to the machine frame 1. The first universal joint axis 38 and the second universal joint axis 39 substantially correspond to a human pitch axis and roll axis in the control pit 6. Furthermore, the dynamic aspect of the guide device 23 allows the control pit to move up relative to the machine frame 1. In the present embodiment, this ascending movement proceeds along a curved track, and this curved track is determined in particular by the arm length of the main arm portion 36. However, in the configuration of the main arm portion as the double joint arm portion, the linear ascending motion is also performed along the main rotation axis 8 in particular.

  Another degree of freedom for moving the control pit relative to the machine frame 1 is substantially blocked by the guide device 23. This has a good effect that the inertial force acting horizontally, such as acting on the exercise device when accelerating or decelerating the simulation device, is stopped by the guide device. Thereby, the measurement of the exercise device can be optimized. This has a positive effect on the total weight of the simulation device and thus helps to solve the problem according to the invention.

  FIG. 3 shows a detailed perspective view of the exercise device 16, the guide device 23 and the rotary carrier 24. The rotation carrier 24 is configured in a basket shape or a bowl shape as in the preceding embodiment. In order to improve the simplicity of the parallel dynamic device 22, the wall of the rotary carrier 24 in this figure is formed. In the present embodiment, the rotation carrier 24 is formed in a cage shape or a bowl shape, and at least a part of the rotation carrier 24 may be formed in a skeleton structure for weight reduction. The rotation carrier 24 is substantially a rigid body, and this rigid body is disposed so as to be rotatable with respect to the machine frame via a rotation carrier bearing 32. The rotary carrier bearing 32 includes a stationary portion that is connected to the machine frame 1 or is fixedly connected thereto, for example. The movable part of the bearing is fixedly connected to or connected to the rotary carrier 24. The rotating carrier 24 is provided with an exercise device 16. This exercise device comprises a parallel dynamic device 22 in the present embodiment, which is configured as a tripod or tripod as described in the previous embodiment. It comprises a plurality of linear drive devices 34 which are connected on one side to a rotating carrier 24 and on the other side to engage the control pit 6 or the control pit carrier 35. To do. The individual linear drives 34 of the parallel kinetic device 22 are connected to the rotary carrier 24 and the control pit 6 at spaced locations. Thereby, when the linear drive device 34 is moved separately, the tilting or turning of the control pit 6 can be achieved, and this turning is substantially performed around the roll axis and / or the pitch axis. In order to rotate the control pit about the vertical axis, that is, preferably the yaw axis corresponding to the main rotational axis 8 in the present embodiment, the rotary carrier 24 is all configured to be rotatable about the main rotational axis 8. Yes. Further, the rotation carrier 24 is provided with a guide device 23. In particular, the guide device 23 includes a main arm portion 36 and a universal joint 37. The main arm portion 36 substantially has one degree of freedom, and this one degree of freedom allows the control pit 6 to move up with respect to the machine frame 1. A universal joint 37 is provided in an articulated manner with the main arm portion 36, and this universal joint is connected to the main arm portion 36 so as to be rotatable about a first universal joint axis 38. Further, the rotatable universal joint 37 is connected to the control pit 6 or the control pit carrier 35 of the control pit 6.

  FIGS. 4 a and 4 b show two different embodiments of the rotary carrier drive 31. The control pit 6 or its control pit carrier 35 is linked to the machine frame 1 via the exercise device 16. In particular, this connection is made via the rotary carrier 24. The rotation carrier 24 is provided in the machine frame 1 so as to be rotatable about the main axis 8. A rotation carrier bearing 32 is provided to allow rotation. In order to drive the rotation carrier 24, a rotation carrier driving device 31 is provided. In FIG. 4a, the rotation carrier driving device is configured as a pinion drive, which causes the rotation carrier 24 to rotate via the rotated wheel or pinion. In doing so, the pinion or drive gear engages directly on the outside of the rotating carrier in order to transmit the rotational movement.

  In FIG. 4b, rotation transmission by the rotation carrier driving device 31 to the rotation carrier 24 is performed via a belt. This may be configured as a flat belt, as a toothed belt, as a V-belt, as a chain drive, or as a similar transmission means.

  FIG. 5 shows a side perspective view of the details of the wheel assembly 2 with wheels 4 and the dynamic device 12. This corresponds, for example, to the wheel assembly of the embodiment according to FIGS. In the current perspective view, two wheels 4 are provided per wheel assembly 2. In some cases, these wheels are individually or commonly driven via a wheel driving device 10. In any case, in order to run the simulation apparatus on the ground 3, the wheel 4 is arranged to be rotatable around the wheel axis 11. According to a preferred embodiment, the wheel 4 is connected to a connecting rod 27 via a wheel carrier 26. In some cases, the wheel bearing of the wheel 4 directly engages the connecting rod 27 in an alternative embodiment. In the present embodiment, a wheel carrier 26 configured to be capable of turning is provided in order to evenly distribute the load transmission to both wheels. The connecting rod 27 is used for rotating the wheel around the steering shaft 5. This rotation is achieved in particular by the steering drive 9. As described in the previous embodiments, a unique steering drive may be provided for this purpose. According to another embodiment, the steering of the wheel is performed based on, for example, the difference in the rotational speed of the individually driven wheels. The dynamic device 12 preferably comprises a wheel suspension device 15 and elastic and / or damping elements such as, for example, a spring damper mechanism 14.

  FIG. 6 shows another embodiment of an exercise device 16 for connecting the control pit 6 with the machine frame 1. This can be replaced in all embodiments by a parallel dynamic device and / or a guide device. In the present embodiment, the exercise device 16 comprises a first carrier element 18 that is pivotally connected to the machine frame 1 about a first axis of rotation 20. . In particular, the first carrier element 18 is pivotally connected to the rotary carrier 24 about the first rotational axis 20. The second carrier element 19 is connected to the first carrier element 18 so as to be rotatable about the second rotation axis 21. The exercise device 16 is configured as a cardan suspension device 17 in this embodiment. Via a rotary drive or linear drive, the individual carrier elements 18, 19 can be tilted or rotated relative to each other and to the machine frame or rotary carrier 24. As a result, the control pit 6 connected to the second carrier element 19 can be tilted about two rotation axes. As a result, the control pit 6 can be tilted around the pitch axis and / or the roll axis.

  FIG. 7 shows a 20 foot container with an internal dimension of 5.710 m × 2.352 m × 2.385 m, and an internal dimension of 7.3 m × 2.480 m × 2.465 m, 8 feet wide, 20 feet deep and Fig. 5 shows a sliding tarpaulin replacement bridge having dimensions of 8 feet high. Furthermore, a projection screen 51 with a transport frame 52 is shown, the projection screen having dimensions of 3.5 m × 2.2 m × 2 m. In addition, the platform is shown with a platform chassis having a driver seat measuring 5.06 m × 2.235 m × 2.4 m. In addition, a foldable chassis 55 is shown. Simulated driving equipment must be operated both in the hall (limited flat foundation) and outdoors, ie at test sites (affected by uneven foundations, weather conditions, dirt, etc.) Can do. Replacement between different outdoor area facilities and test halls may require simple and safe transportation and loading and unloading of the vehicle. Special transport must be avoided. Specifically, simple transportation is possible by LKW. Loading and unloading can be done through the cargo handling home or using a crane if containers are used. For the driving simulator, a preferably star-shaped configuration of the chassis means that the star arm may be configured to be foldable and the projected ceiling may be removable. That is, the driving simulation device may be disassembled or modified in a trivial part as appropriate. Furthermore, it is beneficial to allow easy handling using a lightweight construction scheme. In some cases, a device for loading and disassembling or assembling is required. Each connection must be able to be quickly closed and still ensure a corresponding stability and safety during operation. In all the embodiments, the simulation apparatus includes one transportation method. In this method, the following steps are performed: folding the wheel, closing the chassis at the transportation position, and possibly disassembling the cabin. Done or is done. The width of the vehicle is, for example, less than 3000 mm, in particular about 2360 mm, at the transport position. In some cases, the laying of the cave and the hydraulic device need not be separated.

  FIG. 8 shows the wiring system of the battery voltage and the vehicle voltage. In particular, the battery 124, the member of DC 128 / DC 124 having a dominant voltage 131 of 750 V or more, and then the dominant voltage 131 of DC 24 V, and the subsequent AC A conductor with a DC 126 / AC 127 module having a dominant voltage 130 of 400V and a motor 132 are shown.

  FIG. 9 shows a schematic diagram with an arm 1 132, an arm 2 133, an arm N 134, each of which has an energy storage device 137 with a storage battery 135 and a (super) ultracap 136, an inverter 138 and an electric motor. A motor 139 is provided.

In particular, a typical form of battery according to FIG. 8 and / or FIG. 9:
The basic supply is made by a rechargeable battery that can be replaced during a temporary interruption of operation. Thus, with a corresponding number of replacement batteries, the duration or long-term operation of the simulation device can be guaranteed. Thereby, in the difference from the prior art, the operation simulation device does not depend on an external energy supply unit by a winding cable, a sliding contact portion, a rope or other devices in some cases in the operation mode. The supply by the storage battery provides the internal combustion engine with the advantages of exhaust gas treatment in a closed space, and the internal combustion engine provides the usual vibration and noise and the power fuel to be carried. The use of electric drive energy also offers the advantages of direct driving of tires by means of a wheel hub drive integrated into the wheel, and these wheel hub drives can be used both in the bi-directional driving mode and in the bi-directional braking mode. Is also controlled. That is, it is used in complete four-quadrant operation. The energy extracted by the drive in braking mode should preferably be stored completely, preferably electrically, and be used for the immediately following acceleration cycle. As a suitable additional energy storage device, for example, an ultracap or a storage battery can be used. Furthermore, voluntary energy supply allows the simulator to be transported and used on different road surfaces even if these ultracaps or batteries do not have the infrastructure for energy supply.

Typical structure:
In the figure, the possible structure of the electric drive system is shown with the associated energy storage device. In doing so, the ultracap or supercap is used for intermediate storage of continuously changing energy streams or for voltage smoothing. This is reasoned by the investment strategy. Each arm of the star-shaped body (or each hanging rod-shaped wheel) has a storage battery to which it belongs. However, the individual storage batteries are connected in parallel. This structure allows for the shortest possible path of energy flow, in which case a possible charging state of the running battery is possible.

Typical form of road surface or exercise space:
Another requirement for the configuration of the simulated operating device arises from outdoor driving in some cases. In addition to a compact lightweight construction method, a certain degree of rigidity and resistance are required. Voluntary drive and safety concepts that work even outdoors are advantageous. Since the simulated operating device does not require a fixedly mounted supply device in some cases, the simulated operating device can be used on any sufficiently flat, sufficiently large, road surface with an appropriate coating. it can. In particular, unlike a roofed surface, use on a sufficiently large (actually arbitrarily large) road surface can basically be achieved with a large movement space.

The concept of safety, ie a typical form of control:
Typical forms of emergency braking:
In a dangerous situation (external control simulator, near-limit simulator), the simulator must stop when the drive is switched off. In doing so, deceleration by emergency braking may not be critical to the extent that this creates additional danger. As a recognizable possibility, other brake devices such as mechanical brakes and brake pedals and spring-loaded brake rails of the individual wheel units are conceivable. These variations are discussed in detail below.

Typical forms of deactivation via braked wheels:
In normal operation, the wheel unit transmits the longitudinal force and lateral force of the tire through the chassis to a central vehicle frame that has a structure having a driver thereon. Depending on whether each wheel unit is operated via independent control of both wheel drives or via an additional steering drive, all drives are switched off and the wheels are braked (mechanical braking, When the auxiliary energy), the driving behavior is difficult to be controlled. When the wheel does not move, in some cases, the rear structure of the wheel unit realized by a special chassis structure can stabilize the wheel in the traveling direction. Due to the locking of the wheels, and thus approximately the same braking force in the longitudinal and lateral directions with respect to the wheels, thereby making it possible to stop in an active manner, independent of the steering angle. Further, the deceleration corresponds to the maximum circumferential force or lateral force that can be generated by the tire combination or roadway combination during a 100% slip.

Typical forms of stopping via brake pedal or brake plate:
In so doing, the anisotropic braking force of the wheel that is braked and still rolls if possible is stopped, and instead an anisotropic force transmission element is used between the simulator and the ground. The force transmission element is a plate with a friction lining adjusted to accommodate a constant deceleration, through which the simulator slides on the ground instead of rolling with a tire. The contour of the contact surface should be as large as possible in order to obtain the required safety against falls. That is, the contact surface must be specified (flatness of the ground) and must transmit a certain force (coefficient of friction). The transition from driving mode with rolling tires to brake operation with one or more sliding brake plates, in particular two mechanisms:-the brake plate lifts the simulator, or-the wheel is retracted via eg the chassis The simulator is mounted on a brake plate. The activation control unit (release logic unit) and the activation control mechanism (release mechanism) should be configured in a safe structure as appropriate.

Typical forms of brake shoe stop:
The braking action is generated by an inflated brake shoe mounted below the chassis. In the case of start-up, the brake shoes are filled with air in a short time using auxiliary means (filled pressure tanks with valves) with multiple safety functions and corresponding friction against the road surface. Bring about an effect. This device can be used either all separately or in combination with the previously mentioned braking device or to assist the previously mentioned braking device.

  The exercise device may be constructed passively or semi-passively mechanically according to another embodiment. In the case of this embodiment, in order to enable the pitch motion or roll motion of the control pit 6 with respect to the machine frame 1, the inertia force generated by the motion of the simulated driving device, in particular, by the acceleration of the simulated driving device is used. Therefore, the cardan suspension or parallel dynamic device may be formed by a basic dynamic device so that the control pit can move easily with respect to the machine frame. These dynamic degrees of freedom can be limited and limited, for example via elastic or damping elements such as spring damping devices. The spring characteristics and / or damping characteristics can be changed, for example via a controllable valve or flowable liquid.

  Subsequently, the method for operating the simulation device according to the invention is further described. For example, in order to simulate a movement of a straight line of a vehicle, a simulation apparatus having the method according to the present invention performs the following steps. The driven wheel is driven, so that a linear acceleration force acts on the person. At the same time, the control pit is tilted backward with respect to the machine frame, so that the driver is subjected to a slight backward pitching movement. Therefore, in order to simulate the behaviors of different movements combined with the pitching motion, different pitching motions can be simulated one after another when the starting acceleration is the same. This makes it possible to ascertain which of the pitching movements are realistic and comfortable for the driver.

  In order to improve overcoming of the starting force, in particular static friction, and at the same time improve high dynamic simulation, a method for simulating linear acceleration comprises, for example, the following steps. The wheel assembly and machine frame are rotated around the main axis of rotation. In this rotation mode, the wheel axis is substantially centered in direction, and in particular the extension of the wheel axis intersects the main rotation axis. At the same time, the control pits rotate in the opposite direction at the same number of revolutions, so that the control pits remain stationary with a system fixed to the ground. Even though the wheels have a specific rolling speed, no one moves. In order to start the simulator, the steered wheels can be steered so that the simulator runs in a rotating machine frame. However, this movement need not be linear, and may resemble cornering or running along a cycloid, for example. In that case, the control pit still acts on the driver through a rotating carrier relative to the machine frame, despite the fact that the simulator itself moves on a curved track, in order to simulate a linear acceleration. The acceleration can always be twisted so that it acts in one direction in a straight line.

  In all embodiments, three wheel assemblies, four wheel assemblies, five or more wheel assemblies, one or each for driving a wheel about each wheel axis of the wheels of each wheel assembly. It may be intended to have two wheel drives.

  In all embodiments, wheel assemblies, in particular four, five or more wheel assemblies project outwardly from the machine frame 1. The wheel assembly 2 is preferably arranged in a substantially uniform manner around the machine frame 1. The wheel assembly 2, and in particular the dynamic device 12, preferably projects substantially radially outward with respect to the main rotational axis 8. The main axis of rotation of the chassis of the dynamic device is moved or pivoted about the wheel or chassis element when the spring is extended or compressed, and in some cases extends about the main axis of rotation 8 It extends almost tangential to a circle in a plane parallel to the ground.

  In the case of four wheel assemblies, in some cases the wheel assemblies are twisted 90 ° to each other and project outward from the machine frame. The main axis of rotation of the chassis of the kinetic device is also moved as the wheel extends or compresses about its center, in this case preferably extending in a twisted manner with respect to the chassis adjacent to about 90 °. Yes.

  In all embodiments, it may be intended that a plurality of wheels or a single wheel is driven by three, four or five wheel assemblies.

  In all embodiments, the guide device 23 is configured such that a desired movement of the control pit 6 relative to the machine frame 1 is possible, for example a tilting or ascending movement, and a translational movement in a parallel plane with respect to the ground 3 is interrupted. May be.

  In all embodiments, the kinetic device 12 may be formed as a technically meaningful chassis. A technically defined chassis is an array of substantially rigid individual elements, such as lateral connecting rods, levers or arms, for example, whose dynamic freedom is limited at least in part by a spring damping device. ing. The substantially rigid elements are connected to each other, in particular via pivot bearings, universal bearings or other bearings. In some cases, in all embodiments, the exercise device 16 can be used as an exercise device according to FIG.

  In all embodiments, the device according to the invention and the machine frame of the device according to the invention, in particular the simulated traveling device, can be advanced in different and / or arbitrary directions. In particular, the simulator does not have a clear preferred direction of motion. The dynamic device 12 of the wheel assembly 2 is also preferably suitable and / or adjusted for that purpose and is different and allows the simulator to proceed in any direction.

  Furthermore, the chassis can relieve the irritation caused by the unevenness so that these unevenness is not felt by the person sitting in the simulator or only slightly. The use of suspension kinematics additionally makes it possible to structurally identify the pitch and roll poles of the simulator, thus allowing for more pitch and roll adjustments. In addition, the wheel setting quantities such as the distance between the wheels, camber, etc. can be adjusted dynamically. Similarly, the rear structure of the tire can be integrated.

  Based on the undefined orientation of the wheels relative to the direction of travel, the suspension kinematics are similarly determined to allow for pitch and roll adjustments that depend on the wheel settings and the direction of travel. In some cases, in all embodiments, it is contemplated that one or more dynamic device connections of the simulation device are provided. The connecting part acting as a stabilizer may be constructed hydraulically, electrically or mechanically.

DESCRIPTION OF SYMBOLS 1 Machine frame 2 Wheel assembly 3 Ground 4 Wheel 5 Steering shaft 6 Control pit 7 Seat 8 Main rotational axis 9 Steering drive 10 Wheel drive 11 Wheel axis 12 Dynamic device 13 Elastic and / or damping element 14 Spring damping Device 15 Wheel suspension device 16 Exercise device 17 Cardan suspension device 18 First carrier element 19 Second carrier element 20 First rotation axis 21 Second rotation axis 22 Parallel dynamic device 23 Guide device 24 Rotation Carrier 25 Wheel contact surface 26 Wheel carrier 27 Connecting rod 28 Cockpit
29 Control pit opening 30 Energy storage device 31 Rotating carrier drive device 32 Rotating carrier bearing 33 Dynamic device bearing 34 Linear drive device 35 Control pit carrier 36 Main arm portion 37 Universal joint 38 First universal joint Axis 39 Second universal joint axis 40 Outer casing

Claims (18)

A self-propelled simulated driving device with a machine frame (1), the machine frame being movable on the ground (3) via three, preferably four or more wheel assemblies (2) And
The wheel assemblies (2) each comprise at least one wheel (4) movable on the ground (3), the wheels being arranged rotatably about the steering shaft (5);
In a simulated driving device in which a machine frame (1) is connected to a control pit (6), the control pit comprising a seat for a person (7) and operating elements for controlling the simulated driving device,
The control pit (6) has a degree of freedom of rotation relative to the machine frame (1), so that the control pit (6) can be rotated about the main axis of rotation (8) relative to the machine frame (1). The main axis of rotation (8) is preferably a normal vector of a plane substantially extended by the wheel contact surface (24) of the wheel (4) on the ground (3);
The wheel assembly (2) and / or the wheel (4) are connected to the machine frame (1) via a dynamic device (12) which is formed in particular as a chassis, and the dynamic device (12) In order to absorb and / or cushion the unevenness of the ground (3), it is provided with elastic and / or damping elements (13) such as a spring damper mechanism (14) and a wheel suspension (15) about,
And one exercise device is provided, and the inclination of the control pit (6) with respect to the machine frame (1) around the pitch axis and / or the roll axis is possible via this exercise device. Simulated driving device. At least one wheel assembly (2) comprises a wheel drive (10) for driving the wheel (4) about a wheel axis (11), preferably a plurality of wheel assemblies (2) or all wheels. The simulated driving device according to claim 1, characterized in that each assembly (2) comprises at least one wheel drive device (10) for driving a wheel about each wheel axis (11). One or more wheels (4) of each wheel assembly (2) are rotatable over 360 °, in particular indefinitely and / or in both directions of rotation about the steering shaft (5) The simulated operation device according to claim 1 or 2. 4. The control pit (6) according to any one of the preceding claims, characterized in that the control pit (6) can rotate 360 ° with respect to the machine frame (1), preferably optionally about the main axis of rotation (8). The simulated driving device described in 1. The wheels of one, two, three or all wheel assemblies (2) are arranged so as to be capable of being actively steered via a steering drive (9) and rotatable about each steering shaft (5). The simulated operation device according to any one of claims 1 to 4, wherein the simulation operation device is provided. 6. The simulated driving device according to claim 1, wherein two wheels (4) are provided for each wheel assembly (2). The steering drive device (9) is formed by a rotational drive device of the steering shaft (5);
Alternatively, is the steering drive device (9) driven by the difference in the rotational speeds of the two wheels (4) of the wheel assembly (2) driven around each wheel axis (11) at intervals? Or are formed or subsidized,
Alternatively, the steering drive device (9) is driven by the rotational drive device of the steering shaft (5) and at two intervals, the wheels (2) of the wheel assembly (2) driven around the respective wheel axis lines (11) ( It is formed by the difference of the rotation speed of 4), The simulation driving | operation apparatus as described in any one of Claims 1-6 characterized by the above-mentioned. Via the dynamic device (12), the relative movement of the machine frame (1) with respect to the ground (3), wheels (4) and / or wheel assemblies (2) is made possible, in particular the main axis of rotation (8 The simulated operation device according to any one of claims 1 to 7, wherein relative movement in the direction of the main rotation axis is possible. An exercise device (16) is provided, through which the control pit (6) is connected to the machine frame (1), and the exercise device (16) centers the main rotational axis (8). 9. The simulated operating device according to claim 1, wherein active rotation of the control pit (6) relative to the machine frame (1) is enabled. Via the movement device (16), the translation movement of the control pit (6) relative to the machine frame (1) is made possible, in particular in the main rotation axis (8) or along the main rotation axis, the machine 10. The control pit (6) with respect to the frame (1) and / or the control pit (6) with respect to the machine frame (1) can be moved up and down. The simulated operation apparatus according to one. A cardan suspension (17) is provided, through which the control pit (6) can be inclined with respect to the machine frame (1), preferably two carrier elements (18, 19) are provided, the first carrier element (18) is tiltably connected to the machine frame (1) about the first rotational axis (20), and the second carrier A body element (19) is tiltably connected to the first carrier element (18) about a second axis of rotation (21), and the first axis of rotation (20) and a second rotation 11. The simulated operating device according to any one of claims 1 to 10, characterized in that the axes (21) extend substantially perpendicular to each other. A parallel dynamic device (22) is provided, via which the control pit (6) can be tilted with respect to the machine frame (1), the parallel dynamic device (22) preferably as a tripod, or as a hydraulic tripod, or as a pneumatic tripod, or as an electric tripod, or as a hexapod, or as a hydraulic tripod, The simulated operation device according to any one of claims 1 to 11, wherein the simulated operation device is formed as a pneumatic hexapod or an electric hexapod. A guide device (23) is provided, which is connected on the one hand to the control pit (6) and on the other hand to a part of the machine frame (1) or the exercise device (1),
The rotation of the control pit (6) relative to the machine frame (1) about the main axis of rotation (8);
The inclination of the control pit (6) relative to the machine frame (1) about the pitch axis and / or the roll axis;
The guide device (23) is formed such that translational ascending movement of the control pit (6) relative to the machine frame (1) is possible;
13. The other degree of freedom of the control pit (6) with respect to the machine frame (1) is substantially interrupted by the guide device (23). Simulated driving device. A rotary carrier (24) is provided, which rotates relative to the machine frame (1) via the rotary carrier support (32) and the rotary carrier drive (31). Is the arrangement possible and whether the rotary carrier (24) is engaged with a parallel dynamic device (22), a cardan suspension (17) and / or a guide device (23)? Or a simulated driving apparatus according to any one of claims 1 to 13, wherein the simulated driving apparatus is provided. The simulated driving device is formed as a simulated driving device that can run independently and can be controlled from a control pit by a person,
To be accompanied while connected to the machine frame and supported by the ground via the wheel assembly,
a. At least one wheel driving device for running the simulated driving device;
b. A steering drive device for maneuvering the simulated driving device;
An exercise device for moving the control pit relative to the machine frame,
c. And an energy storage device for supplying energy for driving the wheel drive device, the steering drive device, and the exercise device, and the simulated operation according to claim 1. apparatus. An outer casing (40) is provided, the outer casing is immovably connected to the control pit, the rotating carrier, or the machine frame, and the outer casing (40) is configured as a hollow body. The hollow body preferably completely surrounds at least part of a control pit, cockpit and / or seat for accommodating a person. The simulated driving device described. The outer casing (40) is provided with an image reproduction surface, which preferably extends over at least the majority of the human field of view and is preferably formed continuously inside the outer casing. The simulated operation device according to any one of claims 1 to 16, wherein A method for simulating a transition from an unaccelerated state to an accelerated state performed on the simulated driving device according to any one of claims 1 to 17, comprising the following method: a . Driving and rolling the wheels of the wheel assembly on the ground, the wheel axis of all wheels crosses the main axis of rotation, so the machine frame rotates around the main axis of rotation with a first angular velocity in the first direction of rotation. Process,
b. The control pit is simultaneously rotated around the main rotation axis in the second rotation direction with the second angular velocity, the second rotation direction is opposite to the first rotation direction, and the second angular velocity is the first angular velocity. And so the control pit is substantially stationary with respect to the ground and not accelerated,
c. The driven and rolled wheel is turned around a steering axis, and at least one rotation axis, preferably a plurality of rotation axes, is spaced from the main rotation axis of the control pit and is therefore controlled And pits are at least translated and accelerated.

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